U.S. patent number 9,176,577 [Application Number 13/994,685] was granted by the patent office on 2015-11-03 for spherical three-dimensional controller.
This patent grant is currently assigned to Intel Corporation. The grantee listed for this patent is Bran Ferren, Lars A. Jangaard, Elijah H. Kleeman. Invention is credited to Bran Ferren, Lars A. Jangaard, Elijah H. Kleeman.
United States Patent |
9,176,577 |
Jangaard , et al. |
November 3, 2015 |
Spherical three-dimensional controller
Abstract
A three-dimensional control apparatus including a casing, the
casing including a first surface and a second surface, the first
surface being opposite to the second surface; and a
three-dimensional (3D) controller including a first cap actuator,
the first cap actuator including a first rounded control surface,
at least a portion of the first rounded control surface extending
beyond the first surface of the casing; a second cap actuator, the
second cap actuator including a second rounded control surface, at
least a portion of the second rounded control surface extending
beyond the first surface of the casing, the first rounded control
surface being aligned with the second rounded control surface; a
first sensor to detect force on the first cap actuator; and a
second cap sensor to detect force on the second cap actuator.
Inventors: |
Jangaard; Lars A. (West Hills,
CA), Ferren; Bran (Beverly Hills, CA), Kleeman; Elijah
H. (Los Angeles, CA) |
Applicant: |
Name |
City |
State |
Country |
Type |
Jangaard; Lars A.
Ferren; Bran
Kleeman; Elijah H. |
West Hills
Beverly Hills
Los Angeles |
CA
CA
CA |
US
US
US |
|
|
Assignee: |
Intel Corporation (Santa Clara,
CA)
|
Family
ID: |
47832803 |
Appl.
No.: |
13/994,685 |
Filed: |
September 7, 2012 |
PCT
Filed: |
September 07, 2012 |
PCT No.: |
PCT/US2012/054310 |
371(c)(1),(2),(4) Date: |
June 14, 2013 |
PCT
Pub. No.: |
WO2013/036870 |
PCT
Pub. Date: |
March 14, 2013 |
Prior Publication Data
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Document
Identifier |
Publication Date |
|
US 20130257719 A1 |
Oct 3, 2013 |
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Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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61532821 |
Sep 9, 2011 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G06F
1/1616 (20130101); G06F 3/01 (20130101); G06F
1/169 (20130101); G06F 3/0338 (20130101) |
Current International
Class: |
G06F
3/01 (20060101); G06F 1/16 (20060101); G06F
3/0338 (20130101) |
Field of
Search: |
;345/156,158,167,184 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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2000-305709 |
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Nov 2000 |
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JP |
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2002-181640 |
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Jun 2002 |
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JP |
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10-2010-0032567 |
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Mar 2010 |
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KR |
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10-2011-0026959 |
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Mar 2011 |
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KR |
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10-2011-0026960 |
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Mar 2011 |
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KR |
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WO-2005-085987 |
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Sep 2005 |
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WO |
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Other References
International Search Report and Written Opinion of the
International Searching Authority in International Patent
Application No. PCT/US2012/054310, 13 pages. cited by applicant
.
Extended European Search Report dated Apr. 10, 2015, in European
Patent Application No. 12830316.1, 6 pages. cited by applicant
.
Official Action mailed Apr. 7, 2015 (+ English translation), in
Japanese Patent Application No. 2014-529920, 12 pages. cited by
applicant.
|
Primary Examiner: Johnson; Allison
Attorney, Agent or Firm: Blakely, Sokoloff, Taylor &
Zafman LLP
Parent Case Text
CROSS-REFERENCE TO RELATED APPLICATIONS
This application is a national phase filing of PCT/US2012/054310
filed Sep. 7, 2012, and claims priority from U.S. Provisional
Patent Application Ser. No. 61/532,821, filed Sep. 9, 2011 and
entitled "Spherical Control Device", which applications are
incorporated herein by reference in their entireties.
Claims
The invention claimed is:
1. An apparatus comprising: a casing, the casing including a first
surface and a second surface, the first surface being opposite to
the second surface; and a three-dimensional (3D) controller
including: a first cap actuator, the first cap actuator including a
first rounded control surface, at least a portion of the first
rounded control surface extending beyond the first surface of the
casing; a second cap actuator, the second cap actuator including a
second rounded control surface, at least a portion of the second
rounded control surface extending beyond the second surface of the
casing, the first rounded control surface being aligned with the
second rounded control surface; a first sensor to detect force on
the first cap actuator applied to any of four quadrants of the
first sensor; a second sensor to detect force on the second cap
actuator applied to any of four quadrants of the second sensor; and
a third sensor to detect a rotational force about the first cap
actuator and a fourth sensor to detect a rotational force about the
second cap actuator; wherein the apparatus is to determine inputs
for five of six degrees of freedom based on forces detected by the
first sensor and the second sensor for the four quadrants of the
first sensor and the second sensor, the five of six degrees of
freedom being translation about a first axis parallel to the first
surface and second surface, translation about a second axis
parallel to the first surface and second surface and orthogonal to
the first axis, translation about a third axis orthogonal to the
first surface and the second surface and passing through a center
of the first cap actuator and the second cap actuator, rotation
about the first axis, and rotation about the second axis; and
wherein the apparatus is to determine input for a sixth degree of
freedom based on rotational forces detected by the third sensor and
the fourth sensor, the sixth degree of freedom being a rotation
about the third axis.
2. The apparatus of claim 1, wherein the first cap actuator
includes an extension to provide force on the third sensor and the
second cap actuator includes an extension to provide force on the
fourth sensor.
3. The apparatus of claim 1, wherein a force on the first cap
actuator and a force on the second cap actuator that are both above
a certain threshold further generates an alternate command.
4. The apparatus of claim 1, wherein the first rounded control
surface and the second rounded control surface are shaped as
spherical caps, the first rounded control surface and the second
rounded control surface forming portions of a virtual sphere.
5. The apparatus of claim 1, wherein the first sensor and the
second sensor are force-sensing resistors.
6. The apparatus of claim 5, wherein the first cap actuator and the
second cap actuator include protrusions to provide force on each
quadrant of the first sensor and the second sensor.
7. The apparatus of claim 1, wherein the first cap actuator is
partially within the casing or is on the first surface, and wherein
the second cap actuator is partially within the casing or is on the
second surface.
8. The apparatus of claim 1, wherein the input for translation
about the first axis or the second axis is proportional to a
difference between: a minimum of a first force detected on a first
quadrant by the first sensor and a second force detected on the
corresponding first quadrant by the second sensor; and a minimum of
a third force detected on a second quadrant by the first sensor and
a fourth force detected on the corresponding second quadrant by the
second sensor, the second quadrant being opposite to the first
quadrant.
9. The apparatus of claim 1, wherein the input for rotation about
the first axis or the second axis is proportional to a difference
between: a minimum of a first force detected on a first quadrant by
the first sensor and a second force detected on a second quadrant
by the second sensor, the second quadrant being opposite to the
first quadrant; and a minimum of a third force detected on the
second quadrant by the first sensor and a fourth force detected on
the first quadrant by the second sensor.
10. The apparatus of claim 1, wherein the input for rotation about
the third axis is proportional to a difference between: an average
of forces on each of the four quadrants detected by the first
sensor; and an average of forces on each of the four quadrants
detected by the second sensor.
11. The apparatus of claim 1, wherein the input for rotation about
the third axis is proportional to a difference between a first
rotational force detected by the third sensor and a second
rotational force detected by the fourth sensor.
12. A method comprising: detecting forces on a first actuator of a
control apparatus and a second actuator of the control apparatus,
wherein detecting the force includes detection of one or more of:
forces on any of four quadrants of a first sensor for the first
actuator, forces on any of four quadrants of a second sensor for
the second actuator, and a rotational force about the first
actuator detected by a third sensor and a rotational force about
the second actuator detected by a fourth sensor; and interpreting
the forces as one of a plurality of inputs including: determining
inputs for five of six degrees of freedom based on forces detected
by the first sensor and the second sensor for the four quadrants of
the first sensor and the second sensor, the five of six degrees of
freedom being translation about a first axis parallel to the first
surface and second surface, translation about a second axis
parallel to the first surface and second surface and orthogonal to
the first axis, translation about a third axis orthogonal to the
first surface and the second surface and passing through a center
of the first cap actuator and the second cap actuator, rotation
about the first axis, and rotation about the second axis; and
determining an input for a sixth degree of freedom based on
rotational forces detected by the third sensor and the fourth
sensor, the sixth degree of freedom being a rotation about the
third axis.
13. The method of claim 12, wherein the plurality of inputs
includes an alternative input, further comprising interpreting the
force as the alternate input if a force on the first actuator and a
force on the second actuator are both above a certain
threshold.
14. The method of claim 12, wherein the input for translation about
the first axis or the second axis is proportional to a difference
between: a minimum of a first force detected on a first quadrant by
the first sensor and a second force detected on the corresponding
first quadrant by the second sensor; and a minimum of a third force
detected on a second quadrant by the first sensor and a fourth
force detected on the corresponding second quadrant by the second
sensor, the second quadrant being opposite to the first
quadrant.
15. The method of claim 12, wherein the input for rotation about
the first axis or the second axis is proportional to a difference
between: a minimum of a first force detected on a first quadrant by
the first sensor and a second force detected on a second quadrant
by the second sensor, the second quadrant being opposite to the
first quadrant; and a minimum of a third force detected on the
second quadrant by the first sensor and a fourth force detected on
the first quadrant by the second sensor.
16. The method of claim 12, wherein the input for rotation about
the third axis is proportional to a difference between: an average
of forces on each of the four quadrants detected by the first
sensor; and an average of forces on each of the four quadrants
detected by the second sensor.
17. The method of claim 12, wherein the input for rotation about
the third axis is proportional to a difference between a first
rotational force detected by the third sensor and a second
rotational force detected by the fourth sensor.
18. A system comprising: a processor to interpret commands; a
synchronous dynamic random access memory (SDRAM) to hold data
including data from one or more input devices; a casing including a
first surface and a second surface; and a three-dimensional (3D)
controller including: a first cap actuator, the first cap actuator
including a first rounded control surface, at least a portion of
the first rounded control surface extending beyond the first
surface of the casing; a second cap actuator, the second cap
actuator including a second rounded control surface, at least a
portion of the second rounded control surface extending beyond the
second surface of the casing, the first rounded control surface
being aligned with the second rounded control surface; a first
sensor to detect force on the first cap actuator applied to any of
four quadrants parallel to the first surface; and a second sensor
to detect force on of the second cap actuator applied to any of
four quadrants parallel to the second surface, and a third sensor
to detect a rotational force about the first cap actuator and a
fourth sensor to detect a rotational force about the second cap
actuator, wherein the system is to determine inputs for five of six
degrees of freedom based on forces detected by the first sensor and
the second sensor for the four quadrants of the first sensor and
the second sensor, the five of six degrees of freedom being
translation about a first axis parallel to the first surface and
second surface, translation about a second axis parallel to the
first surface and second surface and orthogonal to the first axis,
translation about a third axis orthogonal to the first surface and
the second surface and passing through a center of the first cap
actuator and the second cap actuator, rotation about the first
axis, and rotation about the second axis; and wherein the system is
to determine input for a sixth degree of freedom based on
rotational forces detected by the third sensor and the fourth
sensor, the sixth degree of freedom being a rotation about the
third axis.
19. The system of claim 18, wherein the system is a laptop
computer, and wherein the casing includes a display casing holding
a display.
20. The system of claim 19, further comprising a second 3D
controller, and wherein the 3D controller is installed in a first
side of the display casing and the second 3D controller is
installed in an opposite second side of the display casing.
21. The system of claim 18, wherein the first surface is a surface
that faces a user operating the system and wherein the second
surface is a surface that faces away from a user operating the
system.
22. A non-transitory computer-readable storage medium having stored
thereon data representing sequences of instructions that, when
executed by a processor, cause the processor to perform operations
comprising: detecting forces on a first actuator of a control
apparatus and a second actuator of the control apparatus, wherein
detecting the force includes detection of one or more of: forces on
any of four quadrants of a first sensor for the first actuator,
forces on any of four quadrants of a second sensor for the second
actuator, and a rotational force about the first actuator detected
by a third sensor and a rotational force around the second actuator
detected by a fourth sensor; and interpreting the forces as one of
a plurality of inputs including: determining inputs for five of six
degrees of freedom based on forces detected by the first sensor and
the second sensor for the four quadrants of the first sensor and
the second sensor, the five of six degrees of freedom being
translation about a first axis parallel to the first surface and
second surface, translation about a second axis parallel to the
first surface and second surface and orthogonal to the first axis,
translation about a third axis orthogonal to the first surface and
the second surface and passing through a center of the first cap
actuator and the second cap actuator, rotation about the first
axis, and rotation about the second axis; and determining an input
for a sixth degree of freedom based on rotational forces detected
by the third sensor and the fourth sensor, the sixth degree of
freedom being a rotation about the third axis.
Description
TECHNICAL FIELD
Embodiments of the invention generally relate to the field of
electronic devices and, more particularly, to a method and
apparatus for a spherical three-dimensional controller.
BACKGROUND
Computing devices, including desktop computers and laptop and
notebook computers, are increasingly utilized for applications that
are not limited to two-dimensional (2D) operation, but rather use
three-dimensional (3D) space.
3D imagery and interaction in multiple possible forms, using the
perception of humans of relative depth via a variety of mechanisms,
including stereopsis, occlusion, linear perspective, and changing
optical properties at distance, present an emerging frontier in
personal computing. True three-dimensional movies, simulations, CAD
(Computer Aided Design), and gaming are now within reach due to
increases in processing power, improved display technologies, and
more sophisticated software tools.
Computing device users are growing increasingly comfortable with
the concept of working within a virtual world embodied by the
computing interface. Users thus expect that the ease, precision,
and depth of their interactions within the virtual world closely
approximate that of the physical world.
However, computing systems such as laptop computers and other
similar systems generally do not provide the user an effective
means of providing 3D input. Conventional options may include
multi-axis peripheral input devices, but such devices are ungainly
and do not properly support sophisticated 3D applications.
BRIEF DESCRIPTION OF THE DRAWINGS
Embodiments of the invention are illustrated by way of example, and
not by way of limitation, in the figures of the accompanying
drawings in which like reference numerals refer to similar
elements.
FIG. 1 is a illustration of an embodiment of a 3D controller for a
computing apparatus or system;
FIG. 2 is an illustration of an embodiment of a 3D controller with
rolling force detection;
FIG. 3 is an illustration of an embodiment of a set of 3D
controllers in a casing of an apparatus or system;
FIG. 4 is an illustration of an embodiment of a cap actuator for a
3D controller;
FIG. 5 is an illustration of an embodiment of a 3D controller
installed in a laptop computer;
FIG. 6 is an illustration of views of an embodiment of a 3D
controller;
FIG. 7 is a flowchart to illustrate an embodiment of a process for
three-dimensional control of a computing system; and
FIG. 8 illustrates an embodiment of a computing device or system
including 3D control.
DETAILED DESCRIPTION
Embodiments of the invention are generally directed to a spherical
three-dimensional controller.
As used herein:
"Computing apparatus or system" means an electronic apparatus or
system that provides processing operations, including a personal
computer, laptop or netbook computer, tablet computer, video game
console, smart phone, personal digital device, handheld computer,
or other similar device.
"Casing" means an external case or cover of an apparatus.
In some embodiments, a spherical three-dimensional controller
(which may be referred to herein as a 3D controller, or controller)
is provided for 3D command control of computing apparatuses and
systems. In some embodiments, one or more 3D controllers may be
included in a computing system, such as a control in or on a
surface of a casing of an apparatus such as a laptop or notebook
computer or integrated in a computer monitor, or may be separate
unit, such as a stand-alone control device.
In some embodiments, a spherical 3D controller (which may be
referred to as a UniBall controller) may be utilized to provide
precise and accurate inputs, including 3D inputs, in a compact
form, where such form factor is particularly suited for integration
within a laptop computer casing or other similar control location.
In some embodiments, the size of the controller, which may be
similar to a marble or similarly sized object, is well matched for
operation by application of the fingertips of a user's hands. In
operation, manipulation of the controller may be provided, for
example, between a thumb and forefinger to allow a tactilely simple
and familiar experience for a user. In some embodiments, a
controller is a force-sensing input device, and thus continuous
inputs to the controller are possible without reliance on the
repetitive motions, such as "scrubbing" across a surface, familiar
to touchpad users. These factors thus may provide for a more
comfortable, less fatiguing interface in comparison with
conventional input controllers.
In some embodiments, a controller comprises two opposing,
actuators, which may be referred to herein as caps or cap
actuators, such as a first cap actuator and a second cap actuator.
In some embodiments, a cap actuator includes a rounded control
surface. In some embodiments, the cap actuators are mounted on or
partially within a first side and a second side of a casing, where
each rounded cap actuator further includes a base, where the base
may be a circular base. In an example, the first side may be a
front side of a laptop computer display casing and the second side
may be a backside of the laptop computer display casing, but
embodiments are not limited to such an implementation. In some
embodiments, the rounded control surface of the cap actuator may be
shaped at least in part as spherical caps, where a spherical cap
represents a portion of a sphere that is divided by an intersecting
plane. Spherical caps may also be described mathematically as
spherical domes. In some embodiments, the first cap actuator and
the second cap actuator of a controller may be of a size and
position to represent opposing spherical caps of a single sphere,
thus, when arranged in the casing, forming a virtual sphere (or
ball) as perceived by a user of the controller. In some
embodiments, a portion of the virtual sphere is contained within
the controller casing, and is not required to have a spherical
shape.
In some embodiments, the first cap actuator and second cap actuator
of a controller form a virtual sphere at a location that may
simultaneously be controlled by the thumb and fingers of a hand of
a user. In some embodiments, the first cap actuator and second cap
actuator are located to be accessible to a user from directions
exterior to the first and second surfaces. For example, the virtual
sphere may be installed in a location in or on a casing where the
virtual sphere may be grasped between the thumb and forefinger or
other finger of the user. In an example, a controller utilizing a
casing that is substantially vertical may include a first cap
actuator partially within or on a surface of a first side of the
casing that is closer to (or facing) a user and a second cap
actuator partially within or on a surface of a second side of the
casing that is further away from (or facing away from) the user,
such that the user may manipulate the first cap with a thumb and
may manipulate the second cap with a forefinger or other finger of
the same hand. In this matter, the user may manipulate the virtual
sphere of a controller is a similar manner as the handling of a
suspended ball of marble size. In some embodiments, manipulation of
the controller provides six degrees of freedom, the six degrees of
freedom being translation along x, y, and z-axes and rotation about
the x, y, and z axes. As used herein, the y-axis generally lies in
a plane parallel to the surface of the casing and is in an up-down
orientation in the view of the user; the x-axis generally lies in
the plane parallel to the surface of the casing and is in a
left-right orientation in the view of the user; and the z-axis is
generally perpendicular to the surface of the casing and is
oriented along a line through a center of each of the caps of the
controller. However, embodiments are not limited to this particular
axis alignment. In certain embodiments, a controller that includes
cap actuators that are installed on a surface of a casing of an
apparatus may provide five degrees of freedom, where rotation
around a z-axis is not provided or is provided by a separate
control input.
In some embodiments, the two cap actuators and associated force
sensing resistors provide an "embedded sphere" (or spheroid) that
serves as a multi-axis controller. In some embodiments, six degrees
of freedom are provided:
(1) Sway: Translating the sphere left or right in a plane parallel
to the surface of the casing (along the x-axis);
(2) Heave: Translating the sphere up or down in a plane parallel to
the surface of the casing (along the y-axis);
(3) Thrust: Translating the sphere inward or outward perpendicular
to the surfaces of the casing (along the z-axis);
(4) Pitch: Rotating the sphere about the sway axis (the
x-axis);
(5) Yaw: Rotating the sphere about the heave axis (the y-axis);
and
(6) Roll: Rotating the sphere about the thrust axis (the
z-axis).
In some embodiments, each cap actuator of a controller is mounted
adjacent to a sensor to sense force on the cap actuator, such as a
force-sensing resistor. In some embodiments, the force-sensing
resistor may include a conductive polymer that changes resistance
upon application of force to its surface. In some embodiments,
forces on the force-sensing resistor are interpreted as control
inputs on the controller. In some embodiments, a cap actuator of a
controller may include protrusions to provide force on the
force-sensing resistor in response to control inputs to the
controller provided by a user. In some embodiments, the shape of
the rounded control surface operates to ensure that a force applied
to a side of the cap actuator by a user results in a portion of the
force being applied laterally to the sensor beneath the cap
actuator, thus allowing a measurement of such force by the sensor.
In some embodiments, resistive measurements may be acquired from
four radial sectors (quadrants) symmetrically disposed about the
z-axis). As the user deflects a spherical cap from an axially
aligned rest position, the protrusion below the cap applies force
to one or more of the quadrants. In some embodiments, measuring the
relative force applied to the four quadrants allows the sensor to
characterize the user input along the three translational and two
rotational axes. However, embodiments are not limited to sensors
that are divided into quadrants, and may includes sensors that
otherwise provide sensitivity to resolve the amplitude and
direction of forces applied to the cap actuators.
In some embodiments, input for rotation around the z-axis (roll) is
resolved by an additional sensing mechanism. In a first embodiment,
the additional sensing mechanism may comprise a ring encoder (e.g.,
an optical encoder) fixed to a cylindrical housing to which the
hemispherical caps are coupled. In a second embodiment, the
additional sensing mechanism may include an additional
force-sensing resistor impinged upon by a protrusion, which may be
referred to herein as a "hammer", that extends radially outward
from one or both of the caps. The additional force-sensing resistor
may be referred to as a roll-sensing resistor. In some embodiments,
a rolling force in either direction (clockwise or counterclockwise)
on one or both of the caps of the controller results in the hammer
providing force on the rotational force-sensing resistor.
In some embodiments, a controller may provide additional control
inputs using the cap actuators of the controller. In some
embodiments, an alternate command input may be provided by
squeezing the first cap actuator and second cap actuators together,
providing an inward force on both the first cap actuator and the
second cap actuator simultaneously. In some embodiments, the input
may be interpreted as a squeezing operation if an average force on
the first cap actuator and an average force on a second cap
actuator are both above a certain threshold. In a first example,
the squeezing of the first and second cap actuators may represent a
start command for an application. In a second example, the
squeezing of the first and second cap actuators may represent a
grasping motion in a 3D control operation. In third example, the
squeezing operation may represent a firing mechanism or other
control in a video game application. In a fourth example, the
squeezing operation could represent a "select" or "enter" input, or
other similar operation. However, embodiments are not limited to
these particular alternate command examples.
In some embodiments, a system or apparatus may include multiple
controllers, such as a first controller for a left hand control
input and a second controller for a right hand input. In some
embodiments, the first and second controllers may included in a
common control unit, such as, for example, placement of the first
controller on a left side of a casing of a laptop computer and
placement of the second controller on a right side of the casing of
the laptop computer. In some embodiments, the first and second
controllers may be operated as alternative controllers, or may be
operated in a related or coordinated fashion. In one example, the
first controller may provide a left hand controller in a 3D control
operation, which the second controller may provide a right hand
controller in the 3D control operation. In some embodiments, a
position of the cap actuators of each controller is adjustable to
allow a user to set a position of the controller at a preferred
location for the user.
In some embodiments, the cap actuators may be composed of any
material that allows a user to easily and naturally manipulate the
controller, including silicon rubber (as well as plastic, rubber,
or other material). In some embodiments, the cap actuators of a
controller include a texture to provide friction and allow better
control by the user. In some embodiments, the texture is a
stretched hexagonal array, providing a texture that resembles a
raised, stretched netting for a user of the controller. The texture
of an embodiment of a cap actuator is illustrated in FIG. 4, as
described below.
The small form factor and low profile of the UniBall controller may
be utilized to also provide an aesthetically pleasing integration
into or on the surface of a display casing (or other locations) on
the laptop computer. In some embodiments, a first controller is
provided on a left side of the laptop computer casing and a second
controller is provided on a right side of the laptop computer
casing to allow for optional left-handed, right-handed, or
two-handed (simultaneous) operation. The degrees of freedom input
from a marble-sized, tactile controller in a laptop computer may be
used to provide rapid, precise, and intuitive manipulation of
objects in a 3D environment or enhanced cursor control, web
browsing, and gaming.
In some embodiments, a 3D controller or a set of multiple 3D
controllers may be utilized by a user to, for example:
(1) Freely control the position and orientation of objects in a 3D
world.
(2) Provide a handheld control for a pan tilt head for a camera,
including zoom operation.
(3) Provide control for a device such as a remote helicopter or
unmanned aerial vehicle (UAV), or remotely operated vehicle
(ROV);
(4) Provide virtual body and hands telemetry, where the two virtual
spheres of a first controller and a second controller control the
equivalent of two end effectors, such as virtual hands or robotic
hands, that give the user supination and pronation, as well as
forward, back, up down, left, right, and combinations of hand
movement. In a particular example, when the "hand" reach the extent
of their bounding areas, the "body" attached to the "hands and
arms" can move the body, thus meaning that the user has full arm
and body telemetry without being encumbered by traditional
telemetry suits that are exoskeleton in nature. In some
embodiments, other inputs may provide for related operations, the
inputs including the squeezing of the cap actuators to provide an
alternate command and/or buttons on back of a device. In some
embodiments, the other inputs may be used for grabbing, for
activating a virtual or real tool, or other related actions. In
some embodiments, the 3D controllers may thus be utilized to the
user's experience augmented reality or telemetry control of their
hands and core body without being strapped into a telemetry
suit.
(5) Provide ability to a user to sculpt, assemble, weld and
de-weld, and otherwise build and deconstruct objects.
(6) Provide social functions for a user, such as to shake virtual
hands.
(7) Examine articles, including turning and repositioning the
articles as necessary.
However, the above list contains only certain examples, and does
not describe all possible uses of an embodiment of a 3D controller
or set of 3D controllers.
In some embodiments, the 3D controller provides full degree of
freedom control--translation along the x, y, and z-axes (sway,
heave, and thrust) and rotation about the x-, y-, and z-axes
(pitch, yaw, and roll). In other embodiments, the 3D controller may
provide five degrees of freedom, where in some embodiments rotation
about the z-axis is provided by a separate control input. In some
embodiments, the input device may integrate additional controls
beyond the degrees of freedom control. In some embodiments, the
controller provides an interaction method and apparatus that is
particularly suited for navigation in 3D computing environments.
However, embodiments are not limited to 3D environments, and may be
utilized in other types of computer environments in which in which
multiple controls are needed or useful. In operation, a user may
utilize a spherical 3D controller to easily control pitch and yaw
to move through a virtual space with intuitive ease. For example,
the 3D controller can be used, for example, to "fly" a rendering
viewpoint (the camera eye) through a virtual world. The controller
might also be utilized for control of traditional 2D cursor
movements.
FIG. 1 is an illustration of an embodiment of a 3D controller for a
computing apparatus or system. In some embodiments, a controller
device includes two spherical cap actuators, each mounted above a
force-sensing resistor, on opposing faces of the portable
electronic device. The caps of the cap actuators are axially
aligned, with the planes sectioning the spheres defined by the caps
being parallel to one another. In some embodiments, the sectioning
planes are also parallel to the opposing surfaces of the casing of
the computing apparatus or system. In some embodiments, the
sectioning planes are offset from one another such that the two
spheres defined by the spherical caps are coincident, forming a
single virtual sphere. Thus, to a user pinching the two caps
between a finger and thumb, the caps may appear to be a single
sphere centered within the thickness of the intervening electronic
device. The concept may be generalized to any spherical interface
in a resilient mounting for which applied force can be
measured.
FIG. 1 provides a simplified drawing for illustration that is not
intended to be to scale or to show all possible elements of a
controller. In FIG. 1, a controller 100 includes a first cap
actuator 110 and an opposing second cap actuator 115, where each of
the first and second cap actuators includes a spherical cap
portion. In some embodiments, the first cap actuator 110 is on or
within a first surface 120 of a casing enclosing the controller
100, and the second cap actuator 115 is on or within a second
surface 125 of the casing of the controller 100. In some
embodiments, the spherical portion of the first cap actuator 110
protrudes at least in part beyond the first surface 120 of the
casing, and the spherical portion of the second cap actuator 115
protrudes at least in part beyond the second surface 125 of the
casing. FIG. 1 illustrates an embodiment in which the control
actuators 110-115 and sensors 130-135 are installed partially
within the casing. However, in some embodiments, the control
actuators and sensors are installed on the first surface 120 and
second surface 125. In some embodiments, the first cap actuator 110
and the second cap actuator 115 are of a shape and position so as
to define a virtual sphere (or spheroid) in the controller. In some
embodiments, the hammer 140 includes a yoke or other portion 142
that encircles the z-axis, and that may be captured between the
bases of the two caps. In some embodiments, the cap actuators
110-115 are mounted on a track integrated within or on the surface
of the casing, allowing a user to adjust the position of the
devices to the desired location.
In some embodiments, extending from the inward facing surface of
each cap actuator is a protrusion aligned on the axis of the cap.
In some embodiments, an axial length of the protrusion is such that
it contacts the surface of the force-sensing resistor when the cap
is mounted on the exterior of, for example, a portable electronic
device. Each cap thus serves as a force actuator, relaying a user's
force on the cap to the force-sensing resistor. Preferably, the cap
and the protrusion are made from a compliant material that ensures
reliable contact between the protrusion and the force-sensing
resistor. Additionally, the hemispherical caps may have an
additional, smaller protrusion or indentation on the exterior
surface. This protrusion or indentation aids the user in tactilely
locating the common axis of alignment of the two caps (which is
referred to herein as the z-axis).
In some embodiments, the controller includes a first force sensor
(which may be referred to as S1) 130 to detect force on the first
cap actuator 110 and a second force sensor (S2) 135 to detect force
on the second cap actuator 115, where the first force sensor 130
and the second force sensor include force sensing resistors.
In some embodiments, the controller 100 includes an element to
detect a rolling force (about the z-axis) on one or more of the cap
actuators 110-115. In a first embodiment, a cap actuator may
include a ring encoder (e.g., an optical encoder) fixed to a
cylindrical housing to which the caps are coupled. In this
implementation, the caps may be rotated in unison about the axis of
alignment (the z-axis) to provide a sixth degree of freedom input.
This degree of freedom may control, for example, the roll input
about the z-axis in the interface.
In a second embodiment, the roll input of the controller is
resolved using a sensor such an additional force-sensing resistor
impinged upon by a "hammer" that extends radially outward from one
or both of the cap actuators. In the illustration provided in FIG.
1, the controller 100 includes one or more rotational sensors to
detect a rotational force (rolling force) of one or both of the
first cap actuator 110 and the second cap actuator 115 around the
common axis 150 through the actuators (the z-axis). In some
embodiments, one or both of the cap actuators may include an
extension (hammer) 140 to translate rotational movement to a force
on one or more sensors 145, which may, for example, include a first
sensor (P1) to detect a rotational force (torque) in a first
direction (for example, clockwise around the z-axis from a
perspective of a first side of the controller) and a second sensor
(P2) to detect a rotational force in a second direction (for
example, counterclockwise around the z-axis from the perspective of
the first side of the controller). In some embodiments, the hammer
140 includes a yoke portion 142 that encircles the z-axis, and is
captured between the bases of the two caps actuators. FIG. 1
illustrates an embodiment in which a hammer portion is contained
within the casing for the cap actuators 110-115. In some
embodiments, in which the first cap actuator 110 and first sensor
130 are installed on the first surface and the second cap actuator
115 and second sensor 135 are installed on the second surface, the
first cap actuator 110 may include a first hammer or set of hammers
in a cover outside the first surface 120 and the second cap
actuator 115 includes a second hammer or set of hammers in a cover
outside the second surface 125.
In some embodiments, a controller receives input from the following
sensors:
(a) Two sensors (referred to as S1 and S2), reporting a scalar
measurement of the force applied in each of four planar quadrants
parallel to the surface on which the virtual sphere, composed of
the first and second spherical caps, is mounted. The planar
quadrants may be referred to as S.sub.n.sup.N, S.sub.n.sup.S,
S.sub.n.sup.E, S.sub.n.sup.W, to indicate force on a North (upper)
quadrant, a South (lower) quadrant, a West (left) quadrant, and an
East (right) quadrant relative to a first side of the controller,
for each of the first side (n=1) and the second side (n=2) of the
controller.
(b) Two sensors (referred to herein as P1 and P2) reporting a
scalar measurement of force provided by the hammer or hammers as
the virtual sphere rotates about the z-axis.
In some embodiments, the equations below summarize the mapping of
the sensor readings onto the six-degree-of-freedom movement of the
controlled object, the controlled object being the physical or
virtual object under the command of the controller. Specifically,
the equations map the sensor inputs onto translation (T) along and
rotation (R) about the x-, y-, and z-axes. For a vertically
installed controller, the axes may generally be the x-axis running
parallel to the casing along a side-to-side path, the y-axis
running parallel to the casing along an up-down path, and the
z-axis running perpendicular to the casing along a path passing
through a center of each of the spherical caps. The mappings
provided by the equations below are expressed as proportional
relationships (denoted by the .varies. operator). A constant of
proportionality may vary from one degree-of-freedom to another,
allowing for individual adjustment of the input sensitivity for
each degree of freedom.
T.sub.X.varies.min(S.sub.1.sup.E,S.sub.2.sup.E)-min(S.sub.1.sup.W,S.sub.2-
.sup.W) [1]
T.sub.Y.varies.min(S.sub.1.sup.N,S.sub.2.sup.N)-min(S.sub.1.sup.S,S.sub.2-
.sup.S) [2]
T.sub.Z.varies.avg(S.sub.1.sup.N,S.sub.1.sup.S,S.sub.1.sup.E,S.sub.1.sup.-
W)-avg(S.sub.2.sup.N,S.sub.2.sup.S,S.sub.2.sup.E,S.sub.2.sup.W) [3]
R.sub.X.varies.min(S.sub.1.sup.N,S.sub.2.sup.S)-min(S.sub.1.sup.S,S.sub.2-
.sup.N) [4]
R.sub.Y.varies.min(S.sub.1.sup.E,S.sub.2.sup.W)-min(S.sub.1.sup.W,S.sub.2-
.sup.E) [5] R.sub.Z.varies.P.sub.2-P.sub.1 [6]
FIG. 2 is an illustration of an embodiment of a 3D controller with
rolling force detection. In some embodiments, a controller 200
includes opposing cap actuators 210 that are coupled with a hammer
220 for each direction of rotation (clockwise and
counterclockwise). In some embodiments, the hammer 220 translates
rolling force to impinge on a sensor to measure the rolling
force.
In other embodiments, the opposing cap actuators may be separate
for installation on opposing surfaces of a casing. In some
embodiments, the separate cap actuators may include a separate
hammer or set of hammers and a separate sensor or sensors to
translate rolling force on each cap actuator to impinge on separate
sensors to measure the rolling force.
FIG. 3 is an illustration of an embodiment of a set of 3D
controllers in a casing of an apparatus or system. The illustration
of FIG. 3 is a simplified illustration of controllers in an
apparatus or system as viewed from above the apparatus or system.
In some embodiments, an apparatus or system 300 includes a casing
305 having a first side 310 and a second side 315, where, for
example, the first side 310 may be a side facing a user and the
second side 315 may be a side facing away from the user.
In some embodiments, the casing includes a first 3D controller 320
and a second 3D controller 325. In the illustration provided in
FIG. 3, the first controller 320 would be a left controller for a
user of the apparatus or system 300, and the second controller 325
would be a right controller for the user. The first controller 320
includes a first set of two aligned cap actuators, a first cap
actuator 330 at least partially extending past the first side 310
of the casing 305, and a cap second actuator 335 at least partially
extending past the second side 315 of the casing 305. The second
controller 325 includes a set of two aligned cap actuators, a third
cap actuator 340 at least partially extending past the first side
310 of the casing 305, and a fourth cap actuator 345 at least
partially extending past the second side 315 of the casing 305.
In some embodiments, the first controller 320 and the second
controller 325 may be used separately, providing a choice for a
user either to operate the first cap actuator 330 and second cap
actuator 335 of the first controller 320 with the user's left hand,
or to operate the third cap actuator 340 and fourth cap actuator
345 of the second controller 325 with the user's right hand, or to
operate both the first and second controllers simultaneously
depending on, for example, the capabilities of the apparatus or
system 300 or the functions of an application being run on the
apparatus or system 300.
FIG. 3 illustrates an embodiment in which the cap actuators are
installed partially within the casing 350. In some embodiments, the
cap actuators are instead installed on the surfaces of the casing.
In some embodiments, the cap actuators are mixed, with one or more
of the cap actuators being installed partially within the cases and
one or more of the cap actuators being installed on the surfaces of
the casing 350.
FIG. 4 is an illustration of an embodiment of a cap actuator for a
3D controller. In some embodiments, a cap actuator 400 includes a
spherical control surface portion 410 and a circular base portion
420. In some embodiments, the control surface 410 includes a
texture to provide friction and allow better control by the user.
In some embodiments, the texture is a stretched hexagonal array, as
illustrated in the control surface 410 in FIG. 4.
FIG. 5 is an illustration of an embodiment of a 3D controller
installed in a laptop computer. In some embodiments, a 3D
controller includes a virtual sphere 500 providing six degrees of
freedom. The controller 510 is illustrated as including two cap
actuators 514 that extend at least partially beyond the surface of
a casing 516, such cap actuators being installed partially within
the surface of the casing or on the surface of the casing 516,
wherein each actuator 514 translates force to a force sensing
resistor 512 and to an additional sensor (not shown) to resolve
each of the six degrees of freedom.
In the illustration provided in FIG. 5, a laptop computer 520 may
include two 3D controllers, where a first controller includes a
first cap actuator 530 extending beyond a front surface of a left
side of the casing of the laptop computer 520, and an aligned
second cap actuator 535 extending beyond a back surface of the
casing. Further, a second controller includes a third cap actuator
540 extending beyond a front surface of a right side of the casing
of the laptop computer 520, and an aligned fourth cap actuator 545
extending beyond a back surface of the casing. Also illustrated is
a closer image of a cap actuator 560 of a 3D controller of the
laptop computer.
FIG. 6 is an illustration of views of an embodiment of a 3D
controller. In this illustration, the following views are provided:
(a) A side view of a 3D controller unit 605, including the aligned
cap actuators above force sensing resistors, and including a hammer
to impact an additional sensor. (b) An isometric cut away view of a
3D controller 610. (c) An isometric view of a 3D controller and
cover 615. (d) An exploded view of elements of a 3D controller and
cover 620. (e) A side view of a 3D controller and additional
control input 630. (f) A facing view of a 3D controller and
additional control inputs. 640. (g) A side view of a 3D controller
and addition control input 650.
FIG. 7 is a flowchart to illustrate an embodiment of a process for
three-dimensional control of a computing system. In the illustrated
process shown in FIG. 7, operation of a computing apparatus or
system is commenced 705, where the computing apparatus or system
includes one or more 3D controllers, where the one or more
controllers may be controllers as illustrated in FIGS. 1-6 or as
described above. In the process, an input is received from a first
controller 710, where in some embodiments the first controller
includes one or more sensors to detect force on a first cap
actuator of the first controller and one or more sensors to detect
force on a second cap actuator of the first controller, and
includes one or more sensors to detect a rotational (rolling) force
for the cap actuators.
In some embodiments, for the component of forces into one or both
of the cap actuators (lateral force) 715 where the average forces
on the first cap actuator and the second cap actuator are not both
above a certain threshold 725, the input is interpreted as a
translation along the x, y, or z-axes or a rotation around the x or
y-axes as follows:
A translation along the x-axis (Sway) is proportional to a
difference between a minimum of the forces on the left actuator
quadrant and a minimum of the forces on the right actuator quadrant
740, such as expressed in Equation [1].
A translation along the y-axis (Heave) is proportional to a
difference between a minimum of the forces on the upper actuator
quadrant and a minimum of the forces on the lower actuator quadrant
745, such as expressed in Equation [2].
A translation along the z-axis (Thrust) is proportional to a
difference between the average forces across the quadrants of a
first force sensing resistor beneath the first cap actuator and the
average forces across the quadrants of a second force sensing
resistor beneath the second cap actuator 750, such as expressed in
Equation [3].
A rotation about the x-axis (Pitch) is proportional to a difference
between a minimum of the upper quadrant of the first actuator
(referred to in FIG. 7 as Up-S1) and the lower quadrant of the
second actuator (Down-S2), and a minimum of the lower quadrant of
the first actuator (Down-S1) and the upper quadrant of the second
actuator (Up-S2) 755, such as expressed in Equation [4].
A rotation about the y-axis (Yaw) is proportional to a difference
between a minimum of the left quadrant of the first actuator
(referred to in FIG. 7 as Left-S1) and the right quadrant of the
second actuator (Right-S2), and a minimum of the right quadrant of
the first actuator (Right-S1) and the left quadrant of the second
actuator (Left-S2) 760, such as expressed in Equation [5]. In some
embodiments, for rotational force about the z-axis (Roll) 715, a
rotation about the z-axis is determined to be proportional a
difference between a force on a first sensor (P1) and force on a
second sensor (P2) 720, such as expressed in Equation [6].
In some embodiments, for the component of forces into one or both
of the cap actuators (lateral force) 715, if the average forces on
the first cap actuator and the average forces on the second cap
actuator are both above a certain threshold 725, indicating a
squeezing input on the controller, then the input may be
interpreted as an alternate command 765, where the alternate
command for a particular use or application might be, for example,
a start command, a grasp command, a firing command, or other
alternate command.
In some embodiments, a system may further provide that engaging the
alternate command by the squeezing input on the controller will
prevent the simultaneous input of any of the degrees of freedom,
including roll input 765, and thus allowing an apparatus or system
to ignore accidental inputs that are made while attempting to
provide the squeezing input for an alternate command.
FIG. 8 illustrates an embodiment of a computing apparatus or system
including 3D control. The computing apparatus or system (referred
to generally here as a computing system) may include a computer,
including for example a laptop or netbook computer or desktop
computer; a server; a game console or handheld game apparatus; a
handheld computer; a tablet computer; a smart phone; or other
computing apparatus or system. In this illustration, certain
standard and well-known components that are not germane to the
present description are not shown. Under some embodiments, the
computing system 800 comprises an interconnect or crossbar 802 or
other communication means for transmission of data. The computing
system 800 may include a processing means such as one or more
processors 804 coupled with the interconnect 802 for processing
information. The processors 804 may comprise one or more physical
processors and one or more logical processors. The interconnect 802
is illustrated as a single interconnect for simplicity, but may
represent multiple different interconnects or buses and the
component connections to such interconnects may vary. The
interconnect 802 shown in FIG. 8 is an abstraction that represents
any one or more separate physical buses, point-to-point
connections, or both connected by appropriate bridges, adapters, or
controllers.
In some embodiments, the computing system 800 further comprises a
random access memory (RAM) or other dynamic storage device or
element as a main memory 812 for storing information and
instructions to be executed by the processors 804, including
information regarding inputs from one or more input devices. RAM
memory includes dynamic random access memory (DRAM), which requires
refreshing of memory contents, and static random access memory
(SRAM), which does not require refreshing contents, but at
increased cost. In some embodiments, main memory may include active
storage of applications including a browser application for using
in network browsing activities by a user of the computing system.
DRAM memory may include synchronous dynamic random access memory
(SDRAM), which includes a clock signal to control signals, and
extended data-out dynamic random access memory (EDO DRAM). In some
embodiments, memory of the system may include certain registers or
other special purpose memory.
The computing system 800 also may comprise a read only memory (ROM)
816 or other static storage device for storing static information
and instructions for the processors 804. The computing system 800
may include one or more non-volatile memory elements 818, such as
flash memory, for the storage of certain elements.
One or more transmitters or receivers 820 may also be coupled to
the interconnect 802. In some embodiments, the computing system 800
may include one or more ports 822 for the reception or transmission
of data. The computing system 800 may further include one or more
omnidirectional or directional antennas 824 for the reception of
data via radio signals.
In some embodiments, the computing system 800 includes one or more
input devices 824, where the input devices include one or more of a
keyboard, mouse, touch pad, voice command recognition, gesture
recognition, or other device for providing an input to a computing
system. In some embodiments, the input devices 824 include one or
more 3D controllers 825, including controllers illustrated in FIGS.
1-6 or described above providing a virtual sphere including a first
cap actuator and a second cap actuator that are disposed at least
partially beyond surfaces of a casing 850. In some embodiments, the
computing system is a single unit, such as a laptop computer or
tablet computer, and the cap actuators of the one or more 3D
controllers are installed partially within or on the surface of the
casing 850 and extend on either side of the system casing 850, such
as the illustrated front cap actuators 530 and 540 and back cap
actuators 535 and 545 for the controllers of laptop computer 520
illustrated in FIG. 5. In some embodiments, the computing system
800 includes multiple separate units, including, for example, a
separate controller unit, and the cap actuators extend at least
partially beyond the surfaces of the casing of the separate
controller unit.
The computing system 800 may also be coupled via the interconnect
802 to an output display 826. In some embodiments, the display 826
may include a liquid crystal display (LCD) or any other display
technology, for displaying information or content to a user. In
some environments, the display 826 may include a touch-screen that
is also utilized as at least a part of an input device. In some
environments, the display 826 may be or may include an audio
device, such as a speaker for providing audio information. In some
embodiments, one or more 3D controllers 825 may be adjacent to the
output display 826, including for example a first controller
located on a first side of a display and a second controller
located on an opposite second side of the display.
The computing system 800 may also comprise a power device or system
830, which may comprise a power supply, a battery, a solar cell, a
fuel cell, or other system or device for providing or generating
power. The power provided by the power device or system 830 may be
distributed as required to elements of the computing system
800.
In the description above, for the purposes of explanation, numerous
specific details are set forth in order to provide a thorough
understanding of the present invention. It will be apparent,
however, to one skilled in the art that the present invention may
be practiced without some of these specific details. In other
instances, well-known structures and devices are shown in block
diagram form. There may be intermediate structure between
illustrated components. The components described or illustrated
herein may have additional inputs or outputs which are not
illustrated or described.
Various embodiments of the present invention may include various
processes. These processes may be performed by hardware components
or may be embodied in computer program or machine-executable
instructions, which may be used to cause a general-purpose or
special-purpose processor or logic circuits programmed with the
instructions to perform the processes. Alternatively, the processes
may be performed by a combination of hardware and software.
Portions of various embodiments of the present invention may be
provided as a computer program product, which may include a
computer-readable medium having stored thereon computer program
instructions, which may be used to program a computer (or other
electronic devices) for execution by one or more processors to
perform a process according to the embodiments of the present
invention. The computer-readable medium may include, but is not
limited to, floppy diskettes, optical disks, compact disk read-only
memory (CD-ROM), and magneto-optical disks, read-only memory (ROM),
random access memory (RAM), erasable programmable read-only memory
(EPROM), electrically-erasable programmable read-only memory
(EEPROM), magnet or optical cards, flash memory, or other type of
computer-readable medium suitable for storing electronic
instructions. Moreover, the present invention may also be
downloaded as a computer program product, wherein the program may
be transferred from a remote computer to a requesting computer.
Many of the methods are described in their most basic form, but
processes can be added to or deleted from any of the methods and
information can be added or subtracted from any of the described
messages without departing from the basic scope of the present
invention. It will be apparent to those skilled in the art that
many further modifications and adaptations can be made. The
particular embodiments are not provided to limit the invention but
to illustrate it. The scope of the embodiments of the present
invention is not to be determined by the specific examples provided
above but only by the claims below.
If it is said that an element "A" is coupled to or with element
"B," element A may be directly coupled to element B or be
indirectly coupled through, for example, element C. When the
specification or claims state that a component, feature, structure,
process, or characteristic A "causes" a component, feature,
structure, process, or characteristic B, it means that "A" is at
least a partial cause of "B" but that there may also be at least
one other component, feature, structure, process, or characteristic
that assists in causing "B." If the specification indicates that a
component, feature, structure, process, or characteristic "may",
"might", or "could" be included, that particular component,
feature, structure, process, or characteristic is not required to
be included. If the specification or claim refers to "a" or "an"
element, this does not mean there is only one of the described
elements.
An embodiment is an implementation or example of the present
invention. Reference in the specification to "an embodiment," "one
embodiment," "some embodiments," or "other embodiments" means that
a particular feature, structure, or characteristic described in
connection with the embodiments is included in at least some
embodiments, but not necessarily all embodiments. The various
appearances of "an embodiment," "one embodiment," or "some
embodiments" are not necessarily all referring to the same
embodiments. It should be appreciated that in the foregoing
description of exemplary embodiments of the present invention,
various features are sometimes grouped together in a single
embodiment, figure, or description thereof for the purpose of
streamlining the disclosure and aiding in the understanding of one
or more of the various inventive aspects. This method of
disclosure, however, is not to be interpreted as reflecting an
intention that the claimed invention requires more features than
are expressly recited in each claim. Rather, as the following
claims reflect, inventive aspects lie in less than all features of
a single foregoing disclosed embodiment. Thus, the claims are
hereby expressly incorporated into this description, with each
claim standing on its own as a separate embodiment of this
invention.
In some embodiments, an apparatus includes a casing, the casing
including a first surface and a second surface, the first surface
being opposite to the second surface; and a 3D controller
including: a first cap actuator, the first cap actuator including a
first rounded control surface, at least a portion of the first
rounded control surface extending beyond the first surface of the
casing; a second cap actuator, the second cap actuator including a
second rounded control surface, at least a portion of the second
rounded control surface extending beyond the second surface of the
casing, the first rounded control surface being aligned with the
second rounded control surface; a first sensor to detect force on
the first actuator; a second sensor to detect force on the second
actuator; and a third sensor to detect a rotational force about one
or both of the first actuator and the second actuator.
In some embodiments, the 3D controller further includes a third
sensor to detect a rotational force about one or both of the first
cap actuator and the second cap actuator. In some embodiments, at
least one of first cap actuator and the second cap actuator
includes an extension to provide force on the third sensor. In some
embodiments, the 3D controller of the apparatus provides input for
six degrees of freedom. In some embodiments, the first sensor and
the second sensor provide input for five of the six degrees of
freedom, wherein the five of six degrees of freedom are translation
about a first axis being a first degree of freedom, translation
about a second axis being a second degree of freedom, translation
about a third axis being a third degree of freedom, rotation about
the first axis being a fourth degree of freedom, and rotation about
the second axis being a fifth degree of freedom. In some
embodiments, the third sensor provides input for a sixth degree of
freedom, the sixth degree of freedom being a rotation about the
third axis.
In some embodiments, the first axis and the second axis are
parallel to the first surface and second surface of the casing, and
the third axis is perpendicular to the first surface and second
surface of the casing and passes through a center of the first cap
actuator and the second cap actuator.
In some embodiments, wherein a force on the first cap actuator and
a force on the second cap actuator of the apparatus that are both
above a certain threshold generates an alternate command to the six
degrees of freedom.
In some embodiments, the first rounded control surface and the
second rounded control surface of the apparatus are shaped as
spherical caps. In some embodiments, the first rounded control
surface and the second rounded control surface form portions of a
virtual sphere.
In some embodiments, the first sensor and the second sensor are
force-sensing resistors, and in some embodiments wherein the first
actuator and the second actuator include protrusions to provide
force on the first sensor and the second sensor. In some
embodiments, at least one of first cap actuator and the second
actuator includes an extension to provide force on the third
sensor. In some embodiments, the first cap actuator is partially
within the casing or is on the first surface, and wherein the
second cap actuator is partially within the casing or is on the
second surface.
In some embodiments, an apparatus includes a casing, the casing
including a first surface and a second surface, the first surface
being opposite to the second surface; and a three-dimensional (3D)
controller including: a first actuator partially within or on the
first surface, the first actuator located in a position accessible
to a hand of a user; a second actuator partially within or on the
second surface, the second actuator located in a position
accessible to the hand of the user; a first sensor to detect force
on the first actuator; and a second sensor to detect force on the
second actuator. In some embodiments, the 3D controller provides
input for six degrees of freedom, wherein the six degrees of
freedom are translation about a first axis being a first degree of
freedom, translation about a second axis being a second degree of
freedom, translation about a third axis being a third degree of
freedom, rotation about the first axis being a fourth degree of
freedom, rotation about the second axis being a fifth degree of
freedom, rotation about third axis being a sixth degree of
freedom.
In some embodiments, a method includes: detecting a force on one or
more of a first actuator of a control apparatus and a second
actuator of the control apparatus, wherein detecting the force
includes detection of one or more of a force on one or more of a
plurality of sectors of first sensor for the a first actuator, a
force on one or more of a plurality of sectors of a second sensor
for the second actuator, and a rotational force about one or both
of the first actuator and the second actuator; and interpreting the
force as one of a plurality of inputs.
In some embodiments, the plurality of inputs for the method
includes six degrees of freedom. In some embodiments, six degrees
of freedom are translation about a first axis being a first degree
of freedom, translation about a second axis being a second degree
of freedom, translation about a third axis being a third degree of
freedom, rotation about the first axis being a fourth degree of
freedom, rotation about the second axis being a fifth degree of
freedom, rotation about third axis being a sixth degree of freedom.
In some embodiments, the force on the sectors of the first actuator
and the force on the sectors of the second actuator provide input
for the first, second, third, fourth, and fifth degrees of freedom,
and in some embodiments the rotational force about one or both of
the first actuator and the second actuator provide input for the
sixth degree of freedom.
In some embodiments, the plurality of inputs for the method include
an alternative input, further comprising interpreting the force as
the alternate input if a force on the first actuator and a force on
the second actuator are both above a certain threshold.
In some embodiments, a system includes: a processor to interpret
commands; a dynamic random access memory (DRAM) to hold data
including data from one or more input devices; a casing including a
first surface and a second surface; and a three-dimensional (3D)
controller. The 3D controller includes: a first cap actuator, the
first cap actuator including a first rounded control surface, at
least a portion of the first rounded control surface extending
beyond the first surface of the casing; a second cap actuator, the
second cap actuator including a second rounded control surface, at
least a portion of the second rounded control surface extending
beyond the second surface of the casing, the first rounded control
surface being aligned with the second rounded control surface; a
first sensor to detect force on the first cap actuator; and a
second sensor to detect force on the second cap actuator;
In some embodiments, the 3D controller of the system further
includes a third sensor to detect a rotational force about one or
both of the first actuator and the second actuator.
In some embodiments, the system is a laptop computer, and wherein
the casing includes a display casing holding a display. In some
embodiments, the system further includes a second 3D controller,
wherein the 3D controller is installed in a first side of the
display casing and the second 3D controller is installed in an
opposite second side of the display casing.
In some embodiments, first surface of the casing of the system is a
surface that faces a user operating the system and wherein the
second surface is a surface that faces away from a user operating
the system.
In some embodiments, wherein the 3D controller of the system
provides input for six degrees of freedom, wherein the six degrees
of freedom are translation about a first axis being a first degree
of freedom, translation about a second axis being a second degree
of freedom, translation about a third axis being a third degree of
freedom, rotation about the first axis being a fourth degree of
freedom, rotation about the second axis being a fifth degree of
freedom, rotation about third axis being a sixth degree of
freedom.
In some embodiments, a computer-readable storage medium having
stored thereon data representing sequences of instructions that,
when executed by a processor, cause the processor to perform
operations comprising: detecting a force on one or more of a first
actuator of a control apparatus and a second actuator of the
control apparatus, wherein detecting the force includes detection
of one or more of: a force on one or more of a plurality of sectors
of a first sensor of a first actuator, a force on one or more of a
plurality of sectors of a second sensor for the second actuator,
and a rotational force about one or both of the first actuator and
the second actuator; and interpreting the force as one of a
plurality of inputs.
In some embodiments, the plurality of inputs includes six degrees
of freedom. In some embodiments, the six degrees of freedom are
translation about a first axis being a first degree of freedom,
translation about a second axis being a second degree of freedom,
translation about a third axis being a third degree of freedom,
rotation about the first axis being a fourth degree of freedom,
rotation about the second axis being a fifth degree of freedom,
rotation about third axis being a sixth degree of freedom.
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